Universal Robots UR-6-85-5-A Service Manual page 6

Replacement of robot joint
Size 1 joints are the three small joints that form the robot's "hand joint".
Size 3 joints are the three large joints that form the robot's elbow, shoulder and base.
Size 1 and size 3 joints, like other spare parts and tools, may be ordered from
Universal Robots.
IMPORTANT
Please indicate which joint is being replaced when ordering. The joints are pre-
programmed and must be fitted to the robot in a specific position.
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Tools required:
 5,5 mm open-ended spanner, flat model, e.g. USAG 250 N (Size 1)
 7.0 mm open-ended spanner, flat model, e.g. USAG 250 N (Size 3)
 Torx T10 screwdriver
 Torque wrench with 5.5 mm or 7.0 mm jaw.
Steps required to replace a joint:
1. Disconnect the robot from the power supply
2. Remove the wires
3. Remove the gaskets
4. Loosen the screws
5. Disassemble the joint
6. Clean the surfaces
7. Adjust the length of the screws
8. Assemble the joint
9. Tighten the screws
10. Fit the gaskets
11. Fit the wires
12. Reset the robot (joint)
The tool flange and base plate are usually replaced when the joint is replaced, as the
assembly method is the same for all joint assemblies in the robot. Special precautions
to be taken when replacing the tool flange and base plate are described at the end of
this manual.
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UR-FK 2011